/*  mbed Microcontroller Library
    Copyright (c) 2006-2013 ARM Limited

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/
#include "CAN.h"

#if DEVICE_CAN

#include "cmsis.h"

namespace mbed {

    CAN::CAN(PinName rd, PinName td) : _can(), _irq() {
        can_init(&_can, rd, td);
        can_irq_init(&_can, (&CAN::_irq_handler), (uint32_t)this);
    }

    CAN::~CAN() {
        can_irq_free(&_can);
        can_free(&_can);
    }

    int CAN::frequency(int f) {
        return can_frequency(&_can, f);
    }

    int CAN::write(CANMessage msg) {
        return can_write(&_can, msg, 0);
    }

    int CAN::read(CANMessage& msg, int handle) {
        return can_read(&_can, &msg, handle);
    }

    void CAN::reset() {
        can_reset(&_can);
    }

    unsigned char CAN::rderror() {
        return can_rderror(&_can);
    }

    unsigned char CAN::tderror() {
        return can_tderror(&_can);
    }

    void CAN::monitor(bool silent) {
        can_monitor(&_can, (silent) ? 1 : 0);
    }

    int CAN::mode(Mode mode) {
        return can_mode(&_can, (CanMode)mode);
    }

    int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
        return can_filter(&_can, id, mask, format, handle);
    }

    void CAN::attach(void (*fptr)(void), IrqType type) {
        if (fptr) {
            _irq[(CanIrqType)type].attach(fptr);
            can_irq_set(&_can, (CanIrqType)type, 1);
        } else {
            can_irq_set(&_can, (CanIrqType)type, 0);
        }
    }

    void CAN::_irq_handler(uint32_t id, CanIrqType type) {
        CAN* handler = (CAN*)id;
        handler->_irq[type].call();
    }

} // namespace mbed

#endif
